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Originally meant to abstract gc_collect but we could just use m_alloc and friends. Also was meant to provide functions like alloc0, alloc_maybe etc.. which are all available in MP anyway. Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
1294 lines
33 KiB
C
1294 lines
33 KiB
C
/*
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* NOTE: This code is mostly auto-generated.
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* See: http://archive.www6.in.tum.de/www6/Main/ResearchAgast.html
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*
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* Copyright (C) 2010 Elmar Mair
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* The program you can download here is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the Free Software Foundation,
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* either version 3 of the License, or (at your option) any later version.
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* This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details. You should have received a copy of the
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* GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
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*/
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#include "imlib.h"
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#if defined(IMLIB_ENABLE_AGAST) && !defined(OMV_NO_GPL)
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#include "fb_alloc.h"
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#include "gc.h"
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#define MAX_ROW (480u)
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#define MIN_MEM (10 * 1024)
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#define MAX_CORNERS (2000u)
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#define Compare(X, Y) ((X) >= (Y))
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typedef struct {
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uint16_t x;
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uint16_t y;
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uint16_t score;
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} corner_t;
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static int s_width = -1;
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static int_fast16_t s_offset0;
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static int_fast16_t s_offset1;
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static int_fast16_t s_offset2;
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static int_fast16_t s_offset3;
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static int_fast16_t s_offset4;
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static int_fast16_t s_offset5;
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static int_fast16_t s_offset6;
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static int_fast16_t s_offset7;
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static corner_t *agast58_detect(image_t *img, int b, int *num_corners, rectangle_t *roi);
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static int agast58_score(const unsigned char *p, int bstart);
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static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints);
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static kp_t *alloc_keypoint(uint16_t x, uint16_t y, uint16_t score) {
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// Note must set keypoint descriptor to zeros
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kp_t *kpt = m_malloc0(sizeof *kpt);
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kpt->x = x;
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kpt->y = y;
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kpt->score = score;
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return kpt;
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}
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static void init5_8_pattern(int image_width) {
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if (image_width == s_width) {
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return;
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}
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s_width = image_width;
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s_offset0 = (-1) + (0) * s_width;
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s_offset1 = (-1) + (-1) * s_width;
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s_offset2 = (0) + (-1) * s_width;
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s_offset3 = (1) + (-1) * s_width;
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s_offset4 = (1) + (0) * s_width;
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s_offset5 = (1) + (1) * s_width;
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s_offset6 = (0) + (1) * s_width;
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s_offset7 = (-1) + (1) * s_width;
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}
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void agast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t *roi) {
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int num_corners = 0;
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init5_8_pattern(image->w);
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// Find corners
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corner_t *corners = agast58_detect(image, threshold, &num_corners, roi);
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if (num_corners) {
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// Score corners
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for (int i = 0; i < num_corners; i++) {
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corners[i].score = agast58_score(image->pixels + (corners[i].y * image->w + corners[i].x), threshold);
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}
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// Non-max suppression
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nonmax_suppression(corners, num_corners, keypoints);
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}
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// Free corners;
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fb_free();
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}
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static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints) {
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gc_info_t info;
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int last_row;
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int16_t *row_start;
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const int sz = num_corners;
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/* Point above points (roughly) to the pixel above
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the one of interest, if there is a feature there.*/
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int point_above = 0;
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int point_below = 0;
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/* Find where each row begins (the corners are output in raster scan order).
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A beginning of -1 signifies that there are no corners on that row. */
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last_row = corners[sz - 1].y;
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row_start = fb_alloc((last_row + 1) * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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for (int i = 0; i < last_row + 1; i++) {
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row_start[i] = -1;
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}
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for (int i = 0, prev_row = -1; i < sz; i++) {
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corner_t *c = &corners[i];
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if (c->y != prev_row) {
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row_start[c->y] = i;
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prev_row = c->y;
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}
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}
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for (int i = 0; i < sz; i++) {
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corner_t pos = corners[i];
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uint16_t score = pos.score;
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/*Check left */
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if (i > 0) {
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if (corners[i - 1].x == pos.x - 1 && corners[i - 1].y == pos.y && Compare(corners[i - 1].score, score)) {
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goto nonmax;
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}
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}
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/*Check right*/
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if (i < (sz - 1)) {
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if (corners[i + 1].x == pos.x + 1 && corners[i + 1].y == pos.y && Compare(corners[i + 1].score, score)) {
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goto nonmax;
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}
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}
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/*Check above (if there is a valid row above)*/
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if (pos.y != 0 && row_start[pos.y - 1] != -1) {
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/*Make sure that current point_above is one row above.*/
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if (corners[point_above].y < pos.y - 1) {
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point_above = row_start[pos.y - 1];
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}
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/*Make point_above point to the first of the pixels above the current point, if it exists.*/
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for (; corners[point_above].y < pos.y && corners[point_above].x < pos.x - 1; point_above++) {
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}
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for (int j = point_above; corners[j].y < pos.y && corners[j].x <= pos.x + 1; j++) {
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int x = corners[j].x;
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if ( (x == pos.x - 1 || x == pos.x || x == pos.x + 1) && Compare(corners[j].score, score)) {
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goto nonmax;
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}
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}
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}
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/*Check below (if there is anything below)*/
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if (pos.y != last_row && row_start[pos.y + 1] != -1 && point_below < sz) {
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/*Nothing below*/
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if (corners[point_below].y < pos.y + 1) {
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point_below = row_start[pos.y + 1];
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}
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/* Make point below point to one of the pixels belowthe current point, if it exists.*/
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for (; point_below < sz && corners[point_below].y == pos.y + 1 && corners[point_below].x < pos.x - 1;
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point_below++) {
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}
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for (int j = point_below; j < sz && corners[j].y == pos.y + 1 && corners[j].x <= pos.x + 1; j++) {
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int x = corners[j].x;
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if ( (x == pos.x - 1 || x == pos.x || x == pos.x + 1) && Compare(corners[j].score, score)) {
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goto nonmax;
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}
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}
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}
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gc_info(&info);
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// Allocate keypoints until we're almost out of memory
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if (info.free < MIN_MEM) {
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// Try collecting memory
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gc_collect();
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// If it didn't work break
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gc_info(&info);
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if (info.free < MIN_MEM) {
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break;
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}
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}
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array_push_back(keypoints, alloc_keypoint(pos.x, pos.y, pos.score));
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nonmax:
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;
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}
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// Free temp rows.
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fb_free();
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}
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// *INDENT-OFF*
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static corner_t *agast58_detect(image_t *img, int b, int* num_corners, rectangle_t *roi)
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{
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int total=0;
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register int x, y;
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register int xsizeB=(roi->x+roi->w) - 2;
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register int ysizeB=(roi->y+roi->h) - 1;
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register int_fast16_t offset0, offset1, offset2, offset3, offset4, offset5, offset6, offset7;
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register int width;
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offset0=s_offset0;
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offset1=s_offset1;
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offset2=s_offset2;
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offset3=s_offset3;
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offset4=s_offset4;
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offset5=s_offset5;
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offset6=s_offset6;
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offset7=s_offset7;
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width=s_width;
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// Try to alloc MAX_CORNERS or the actual max corners we can alloc.
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int max_corners = IM_MIN(MAX_CORNERS, (fb_avail() / sizeof(corner_t)));
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corner_t *corners = (corner_t*) fb_alloc(max_corners * sizeof(corner_t), FB_ALLOC_NO_HINT);
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for(y=roi->y+1; y < ysizeB; y++)
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{
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x=roi->x;
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while(1)
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{
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homogeneous:
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{
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x++;
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if(x>xsizeB)
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break;
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else
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{
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register const unsigned char* const p = img->pixels + y*width + x;
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register const int cb = *p + b;
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register const int c_b = *p - b;
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if(p[offset0] > cb)
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if(p[offset2] > cb)
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if(p[offset3] > cb)
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if(p[offset5] > cb)
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if(p[offset1] > cb)
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if(p[offset4] > cb)
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goto success_structured;
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else
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if(p[offset7] > cb)
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goto success_structured;
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else
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goto homogeneous;
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else
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if(p[offset4] > cb)
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if(p[offset6] > cb)
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goto success_structured;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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if(p[offset1] > cb)
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if(p[offset4] > cb)
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goto success_homogeneous;
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else
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if(p[offset7] > cb)
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goto success_homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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if(p[offset7] > cb)
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if(p[offset6] > cb)
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if(p[offset5] > cb)
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if(p[offset1] > cb)
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goto success_structured;
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else
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if(p[offset4] > cb)
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goto success_structured;
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else
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goto homogeneous;
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else
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if(p[offset1] > cb)
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goto success_homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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if(p[offset5] < c_b)
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if(p[offset3] < c_b)
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if(p[offset7] < c_b)
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if(p[offset4] < c_b)
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if(p[offset6] < c_b)
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goto success_structured;
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else
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goto structured;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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if(p[offset5] > cb)
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if(p[offset7] > cb)
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if(p[offset6] > cb)
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if(p[offset1] > cb)
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goto success_homogeneous;
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else
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if(p[offset4] > cb)
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goto success_homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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if(p[offset5] < c_b)
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if(p[offset3] < c_b)
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if(p[offset2] < c_b)
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if(p[offset1] < c_b)
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if(p[offset4] < c_b)
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goto success_structured;
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else
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goto homogeneous;
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else
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if(p[offset4] < c_b)
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if(p[offset6] < c_b)
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goto success_structured;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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if(p[offset7] < c_b)
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if(p[offset4] < c_b)
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if(p[offset6] < c_b)
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goto success_structured;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else
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goto homogeneous;
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else if(p[offset0] < c_b)
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if(p[offset2] < c_b)
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if(p[offset7] > cb)
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if(p[offset3] < c_b)
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if(p[offset5] < c_b)
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if(p[offset1] < c_b)
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if(p[offset4] < c_b)
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goto success_structured;
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else
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goto structured;
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else
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if(p[offset4] < c_b)
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if(p[offset6] < c_b)
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goto success_structured;
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else
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goto structured;
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else
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goto homogeneous;
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else
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if(p[offset1] < c_b)
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if(p[offset4] < c_b)
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goto success_structured;
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else
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goto homogeneous;
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|
else
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goto homogeneous;
|
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else
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if(p[offset5] > cb)
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if(p[offset3] > cb)
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if(p[offset4] > cb)
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if(p[offset6] > cb)
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goto success_structured;
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else
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goto structured;
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else
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goto homogeneous;
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|
else
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goto homogeneous;
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|
else
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|
goto homogeneous;
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|
else
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|
if(p[offset7] < c_b)
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|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
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|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
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|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset1] < c_b)
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|
goto success_homogeneous;
|
|
else
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|
goto homogeneous;
|
|
else
|
|
if(p[offset6] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset7] < c_b)
|
|
if(p[offset6] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset3] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
}
|
|
}
|
|
structured:
|
|
{
|
|
x++;
|
|
if(x>xsizeB)
|
|
break;
|
|
else
|
|
{
|
|
register const unsigned char* const p = img->pixels + y*width + x;
|
|
register const int cb = *p + b;
|
|
register const int c_b = *p - b;
|
|
if(p[offset0] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset7] > cb)
|
|
if(p[offset1] > cb)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset1] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset6] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset1] > cb)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset1] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset7] > cb)
|
|
if(p[offset6] > cb)
|
|
if(p[offset1] > cb)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto homogeneous;
|
|
else if(p[offset0] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset7] > cb)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset6] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto structured;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset7] < c_b)
|
|
if(p[offset6] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto success_structured;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
goto success_structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto structured;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset3] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto success_homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
else
|
|
goto homogeneous;
|
|
}
|
|
}
|
|
success_homogeneous:
|
|
corners[total].x = x;
|
|
corners[total].y = y;
|
|
if(++total == max_corners) {
|
|
goto done;
|
|
}
|
|
goto homogeneous;
|
|
success_structured:
|
|
corners[total].x = x;
|
|
corners[total].y = y;
|
|
if(++total == max_corners) {
|
|
goto done;
|
|
}
|
|
goto structured;
|
|
}
|
|
}
|
|
done:
|
|
*num_corners = total;
|
|
return corners;
|
|
}
|
|
|
|
//using also bisection as propsed by Edward Rosten in FAST,
|
|
//but it is based on the OAST
|
|
static int agast58_score(const unsigned char* p, int bstart)
|
|
{
|
|
int bmin = bstart;
|
|
int bmax = 255;
|
|
int b = (bmax + bmin)/2;
|
|
|
|
register int_fast16_t offset0=s_offset0;
|
|
register int_fast16_t offset1=s_offset1;
|
|
register int_fast16_t offset2=s_offset2;
|
|
register int_fast16_t offset3=s_offset3;
|
|
register int_fast16_t offset4=s_offset4;
|
|
register int_fast16_t offset5=s_offset5;
|
|
register int_fast16_t offset6=s_offset6;
|
|
register int_fast16_t offset7=s_offset7;
|
|
|
|
while(1)
|
|
{
|
|
register const int cb = *p + b;
|
|
register const int c_b = *p - b;
|
|
if(p[offset0] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset7] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset7] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset6] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset1] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset4] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset1] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset7] > cb)
|
|
if(p[offset6] > cb)
|
|
if(p[offset1] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset4] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else if(p[offset0] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset7] > cb)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset6] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset5] > cb)
|
|
if(p[offset3] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset5] < c_b)
|
|
if(p[offset7] < c_b)
|
|
if(p[offset6] < c_b)
|
|
if(p[offset1] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset3] > cb)
|
|
if(p[offset5] > cb)
|
|
if(p[offset2] > cb)
|
|
if(p[offset1] > cb)
|
|
if(p[offset4] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset7] > cb)
|
|
if(p[offset4] > cb)
|
|
if(p[offset6] > cb)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset3] < c_b)
|
|
if(p[offset5] < c_b)
|
|
if(p[offset2] < c_b)
|
|
if(p[offset1] < c_b)
|
|
if(p[offset4] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
if(p[offset7] < c_b)
|
|
if(p[offset4] < c_b)
|
|
if(p[offset6] < c_b)
|
|
goto is_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
else
|
|
goto is_not_a_corner;
|
|
|
|
is_a_corner:
|
|
bmin=b;
|
|
goto end;
|
|
|
|
is_not_a_corner:
|
|
bmax=b;
|
|
goto end;
|
|
|
|
end:
|
|
|
|
if(bmin == bmax - 1 || bmin == bmax)
|
|
return bmin;
|
|
b = (bmin + bmax) / 2;
|
|
}
|
|
}
|
|
// *INDENT-ON*
|
|
#endif // defined(IMLIB_ENABLE_AGAST) && !defined(OMV_NO_GPL)
|
|
|